function sonar_plot(axes_handle,radius)
%UNTITLED Summary of this function goes here
%   Detailed explanation goes here
    global d_min_obst
    scale = d_min_obst*1e3*2;
    angle = (pi/2:-pi/7:-pi/2)+pi/2;
    tresh = ones(1,8).*d_min_obst*1e3;
    % fake plot for scaling only
    h0 = polar(axes_handle,angle,ones(1,8)*scale);
    set(h0, 'Visible', 'Off');
    hold on
    h2 = polar(axes_handle,angle,tresh,'g');
    set(h2,'LineWidth',2);
    h1 = polar(axes_handle,angle,radius,'-rx');
    set(h1,'LineWidth',2,'MarkerSize',10);
    hold off
    ylim(axes_handle,[0 scale*2]);
%     ylim(axes_handle,[0 scale*1.2]);
    drawnow;
%     axis([-inf inf 0 inf]);
end

